/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/


#include "MapDrawer.h"
#include "MapPoint.h"
#include "KeyFrame.h"
//#include <pangolin/pangolin.h>
#include <mutex>

namespace ORB_SLAM3
{


MapDrawer::MapDrawer(Atlas* pAtlas, const string &strSettingPath):mpAtlas(pAtlas)
{
    if(strSettingPath.empty()) return;
    cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ);

    bool is_correct = ParseViewerParamFile(fSettings);

    if(!is_correct)
    {
        std::cerr << "**ERROR in the config file, the format is not correct**" << std::endl;
        try
        {
            throw -1;
        }
        catch(exception &e)
        {

        }
    }
}

bool MapDrawer::ParseViewerParamFile(cv::FileStorage &fSettings)
{
    bool b_miss_params = false;

    cv::FileNode node = fSettings["Viewer.KeyFrameSize"];
    if(!node.empty())
    {
        mKeyFrameSize = node.real();
    }
    else
    {
        std::cerr << "*Viewer.KeyFrameSize parameter doesn't exist or is not a real number*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["Viewer.KeyFrameLineWidth"];
    if(!node.empty())
    {
        mKeyFrameLineWidth = node.real();
    }
    else
    {
        std::cerr << "*Viewer.KeyFrameLineWidth parameter doesn't exist or is not a real number*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["Viewer.GraphLineWidth"];
    if(!node.empty())
    {
        mGraphLineWidth = node.real();
    }
    else
    {
        std::cerr << "*Viewer.GraphLineWidth parameter doesn't exist or is not a real number*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["Viewer.PointSize"];
    if(!node.empty())
    {
        mPointSize = node.real();
    }
    else
    {
        std::cerr << "*Viewer.PointSize parameter doesn't exist or is not a real number*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["Viewer.CameraSize"];
    if(!node.empty())
    {
        mCameraSize = node.real();
    }
    else
    {
        std::cerr << "*Viewer.CameraSize parameter doesn't exist or is not a real number*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["Viewer.CameraLineWidth"];
    if(!node.empty())
    {
        mCameraLineWidth = node.real();
    }
    else
    {
        std::cerr << "*Viewer.CameraLineWidth parameter doesn't exist or is not a real number*" << std::endl;
        b_miss_params = true;
    }

    return !b_miss_params;
}

void MapDrawer::DrawMapPoints()
{

//    const vector<MapPoint*> &vpMPs = mpAtlas->GetAllMapPoints();
//    const vector<MapPoint*> &vpRefMPs = mpAtlas->GetReferenceMapPoints();

//    set<MapPoint*> spRefMPs(vpRefMPs.begin(), vpRefMPs.end());

//    if(vpMPs.empty())
//        return;

//    glPointSize(mPointSize);
//    glBegin(GL_POINTS);
//    glColor3f(0.0,0.0,0.0);

//    for(size_t i=0, iend=vpMPs.size(); i<iend;i++)
//    {
//        if(vpMPs[i]->isBad() || spRefMPs.count(vpMPs[i]))
//            continue;
//        cv::Mat pos = vpMPs[i]->GetWorldPos();
//        glVertex3f(pos.at<float>(0),pos.at<float>(1),pos.at<float>(2));
//    }
//    glEnd();

//    glPointSize(mPointSize);
//    glBegin(GL_POINTS);
//    glColor3f(1.0,0.0,0.0);

//    for(set<MapPoint*>::iterator sit=spRefMPs.begin(), send=spRefMPs.end(); sit!=send; sit++)
//    {
//        if((*sit)->isBad())
//            continue;
//        cv::Mat pos = (*sit)->GetWorldPos();
//        glVertex3f(pos.at<float>(0),pos.at<float>(1),pos.at<float>(2));

//    }

//    glEnd();
}

void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, const bool bDrawInertialGraph)
{
//    const float &w = mKeyFrameSize;
//    const float h = w*0.75;
//    const float z = w*0.6;

//    const vector<KeyFrame*> vpKFs = mpAtlas->GetAllKeyFrames();

//    if(bDrawKF)
//    {
//        for(size_t i=0; i<vpKFs.size(); i++)
//        {
//            KeyFrame* pKF = vpKFs[i];
//            cv::Mat Twc = pKF->GetPoseInverse().t();
//            unsigned int index_color = pKF->mnOriginMapId;

//            glPushMatrix();

//            glMultMatrixf(Twc.ptr<GLfloat>(0));

//            if(!pKF->GetParent()) // It is the first KF in the map
//            {
//                glLineWidth(mKeyFrameLineWidth*5);
//                glColor3f(1.0f,0.0f,0.0f);
//                glBegin(GL_LINES);
//            }
//            else
//            {
//                glLineWidth(mKeyFrameLineWidth);
//                glColor3f(mfFrameColors[index_color][0],mfFrameColors[index_color][1],mfFrameColors[index_color][2]);
//                glBegin(GL_LINES);
//            }

//            glVertex3f(0,0,0);
//            glVertex3f(w,h,z);
//            glVertex3f(0,0,0);
//            glVertex3f(w,-h,z);
//            glVertex3f(0,0,0);
//            glVertex3f(-w,-h,z);
//            glVertex3f(0,0,0);
//            glVertex3f(-w,h,z);

//            glVertex3f(w,h,z);
//            glVertex3f(w,-h,z);

//            glVertex3f(-w,h,z);
//            glVertex3f(-w,-h,z);

//            glVertex3f(-w,h,z);
//            glVertex3f(w,h,z);

//            glVertex3f(-w,-h,z);
//            glVertex3f(w,-h,z);
//            glEnd();

//            glPopMatrix();

//            glEnd();
//        }
//    }

//    if(bDrawGraph)
//    {
//        glLineWidth(mGraphLineWidth);
//        glColor4f(0.0f,1.0f,0.0f,0.6f);
//        glBegin(GL_LINES);

//        for(size_t i=0; i<vpKFs.size(); i++)
//        {
//            // Covisibility Graph
//            const vector<KeyFrame*> vCovKFs = vpKFs[i]->GetCovisiblesByWeight(100);
//            cv::Mat Ow = vpKFs[i]->GetCameraCenter();
//            if(!vCovKFs.empty())
//            {
//                for(vector<KeyFrame*>::const_iterator vit=vCovKFs.begin(), vend=vCovKFs.end(); vit!=vend; vit++)
//                {
//                    if((*vit)->mnId<vpKFs[i]->mnId)
//                        continue;
//                    cv::Mat Ow2 = (*vit)->GetCameraCenter();
//                    glVertex3f(Ow.at<float>(0),Ow.at<float>(1),Ow.at<float>(2));
//                    glVertex3f(Ow2.at<float>(0),Ow2.at<float>(1),Ow2.at<float>(2));
//                }
//            }

//            // Spanning tree
//            KeyFrame* pParent = vpKFs[i]->GetParent();
//            if(pParent)
//            {
//                cv::Mat Owp = pParent->GetCameraCenter();
//                glVertex3f(Ow.at<float>(0),Ow.at<float>(1),Ow.at<float>(2));
//                glVertex3f(Owp.at<float>(0),Owp.at<float>(1),Owp.at<float>(2));
//            }

//            // Loops
//            set<KeyFrame*> sLoopKFs = vpKFs[i]->GetLoopEdges();
//            for(set<KeyFrame*>::iterator sit=sLoopKFs.begin(), send=sLoopKFs.end(); sit!=send; sit++)
//            {
//                if((*sit)->mnId<vpKFs[i]->mnId)
//                    continue;
//                cv::Mat Owl = (*sit)->GetCameraCenter();
//                glVertex3f(Ow.at<float>(0),Ow.at<float>(1),Ow.at<float>(2));
//                glVertex3f(Owl.at<float>(0),Owl.at<float>(1),Owl.at<float>(2));
//            }
//        }

//        glEnd();
//    }

//    if(bDrawInertialGraph && mpAtlas->isImuInitialized())
//    {
//        glLineWidth(mGraphLineWidth);
//        glColor4f(1.0f,0.0f,0.0f,0.6f);
//        glBegin(GL_LINES);

//        //Draw inertial links
//        for(size_t i=0; i<vpKFs.size(); i++)
//        {
//            KeyFrame* pKFi = vpKFs[i];
//            cv::Mat Ow = pKFi->GetCameraCenter();
//            KeyFrame* pNext = pKFi->mNextKF;
//            if(pNext)
//            {
//                cv::Mat Owp = pNext->GetCameraCenter();
//                glVertex3f(Ow.at<float>(0),Ow.at<float>(1),Ow.at<float>(2));
//                glVertex3f(Owp.at<float>(0),Owp.at<float>(1),Owp.at<float>(2));
//            }
//        }

//        glEnd();
//    }

//    vector<Map*> vpMaps = mpAtlas->GetAllMaps();

//    if(bDrawKF)
//    {
//        for(Map* pMap : vpMaps)
//        {
//            if(pMap == mpAtlas->GetCurrentMap())
//                continue;

//            vector<KeyFrame*> vpKFs = pMap->GetAllKeyFrames();

//            for(size_t i=0; i<vpKFs.size(); i++)
//            {
//                KeyFrame* pKF = vpKFs[i];
//                cv::Mat Twc = pKF->GetPoseInverse().t();
//                unsigned int index_color = pKF->mnOriginMapId;

//                glPushMatrix();

//                glMultMatrixf(Twc.ptr<GLfloat>(0));

//                if(!vpKFs[i]->GetParent()) // It is the first KF in the map
//                {
//                    glLineWidth(mKeyFrameLineWidth*5);
//                    glColor3f(1.0f,0.0f,0.0f);
//                    glBegin(GL_LINES);
//                }
//                else
//                {
//                    glLineWidth(mKeyFrameLineWidth);
//                    glColor3f(mfFrameColors[index_color][0],mfFrameColors[index_color][1],mfFrameColors[index_color][2]);
//                    glBegin(GL_LINES);
//                }

//                glVertex3f(0,0,0);
//                glVertex3f(w,h,z);
//                glVertex3f(0,0,0);
//                glVertex3f(w,-h,z);
//                glVertex3f(0,0,0);
//                glVertex3f(-w,-h,z);
//                glVertex3f(0,0,0);
//                glVertex3f(-w,h,z);

//                glVertex3f(w,h,z);
//                glVertex3f(w,-h,z);

//                glVertex3f(-w,h,z);
//                glVertex3f(-w,-h,z);

//                glVertex3f(-w,h,z);
//                glVertex3f(w,h,z);

//                glVertex3f(-w,-h,z);
//                glVertex3f(w,-h,z);
//                glEnd();

//                glPopMatrix();
//            }
//        }
//    }
}

//void MapDrawer::DrawCurrentCamera(pangolin::OpenGlMatrix &Twc)
//{
//    const float &w = mCameraSize;
//    const float h = w*0.75;
//    const float z = w*0.6;

//    glPushMatrix();

//#ifdef HAVE_GLES
//        glMultMatrixf(Twc.m);
//#else
//        glMultMatrixd(Twc.m);
//#endif

//    glLineWidth(mCameraLineWidth);
//    glColor3f(0.0f,1.0f,0.0f);
//    glBegin(GL_LINES);
//    glVertex3f(0,0,0);
//    glVertex3f(w,h,z);
//    glVertex3f(0,0,0);
//    glVertex3f(w,-h,z);
//    glVertex3f(0,0,0);
//    glVertex3f(-w,-h,z);
//    glVertex3f(0,0,0);
//    glVertex3f(-w,h,z);

//    glVertex3f(w,h,z);
//    glVertex3f(w,-h,z);

//    glVertex3f(-w,h,z);
//    glVertex3f(-w,-h,z);

//    glVertex3f(-w,h,z);
//    glVertex3f(w,h,z);

//    glVertex3f(-w,-h,z);
//    glVertex3f(w,-h,z);
//    glEnd();

//    glPopMatrix();
//}


void MapDrawer::SetCurrentCameraPose(const cv::Mat &Tcw)
{
    unique_lock<mutex> lock(mMutexCamera);
    mCameraPose = Tcw.clone();
}

//void MapDrawer::GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M, pangolin::OpenGlMatrix &MOw)
//{
//    if(!mCameraPose.empty())
//    {
//        cv::Mat Rwc(3,3,CV_32F);
//        cv::Mat twc(3,1,CV_32F);
//        {
//            unique_lock<mutex> lock(mMutexCamera);
//            Rwc = mCameraPose.rowRange(0,3).colRange(0,3).t();
//            twc = -Rwc*mCameraPose.rowRange(0,3).col(3);
//        }

//        M.m[0] = Rwc.at<float>(0,0);
//        M.m[1] = Rwc.at<float>(1,0);
//        M.m[2] = Rwc.at<float>(2,0);
//        M.m[3]  = 0.0;

//        M.m[4] = Rwc.at<float>(0,1);
//        M.m[5] = Rwc.at<float>(1,1);
//        M.m[6] = Rwc.at<float>(2,1);
//        M.m[7]  = 0.0;

//        M.m[8] = Rwc.at<float>(0,2);
//        M.m[9] = Rwc.at<float>(1,2);
//        M.m[10] = Rwc.at<float>(2,2);
//        M.m[11]  = 0.0;

//        M.m[12] = twc.at<float>(0);
//        M.m[13] = twc.at<float>(1);
//        M.m[14] = twc.at<float>(2);
//        M.m[15]  = 1.0;

//        MOw.SetIdentity();
//        MOw.m[12] = twc.at<float>(0);
//        MOw.m[13] = twc.at<float>(1);
//        MOw.m[14] = twc.at<float>(2);
//    }
//    else
//    {
//        M.SetIdentity();
//        MOw.SetIdentity();
//    }
//}

//void MapDrawer::GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M, pangolin::OpenGlMatrix &MOw, pangolin::OpenGlMatrix &MTwwp)
//{
//    if(!mCameraPose.empty())
//    {
//        cv::Mat Rwc(3,3,CV_32F);
//        cv::Mat twc(3,1,CV_32F);
//        cv::Mat Rwwp(3,3,CV_32F);
//        {
//            unique_lock<mutex> lock(mMutexCamera);
//            Rwc = mCameraPose.rowRange(0,3).colRange(0,3).t();
//            twc = -Rwc*mCameraPose.rowRange(0,3).col(3);
//        }

//        M.m[0] = Rwc.at<float>(0,0);
//        M.m[1] = Rwc.at<float>(1,0);
//        M.m[2] = Rwc.at<float>(2,0);
//        M.m[3]  = 0.0;

//        M.m[4] = Rwc.at<float>(0,1);
//        M.m[5] = Rwc.at<float>(1,1);
//        M.m[6] = Rwc.at<float>(2,1);
//        M.m[7]  = 0.0;

//        M.m[8] = Rwc.at<float>(0,2);
//        M.m[9] = Rwc.at<float>(1,2);
//        M.m[10] = Rwc.at<float>(2,2);
//        M.m[11]  = 0.0;

//        M.m[12] = twc.at<float>(0);
//        M.m[13] = twc.at<float>(1);
//        M.m[14] = twc.at<float>(2);
//        M.m[15]  = 1.0;

//        MOw.SetIdentity();
//        MOw.m[12] = twc.at<float>(0);
//        MOw.m[13] = twc.at<float>(1);
//        MOw.m[14] = twc.at<float>(2);

//        MTwwp.SetIdentity();
//        MTwwp.m[0] = Rwwp.at<float>(0,0);
//        MTwwp.m[1] = Rwwp.at<float>(1,0);
//        MTwwp.m[2] = Rwwp.at<float>(2,0);

//        MTwwp.m[4] = Rwwp.at<float>(0,1);
//        MTwwp.m[5] = Rwwp.at<float>(1,1);
//        MTwwp.m[6] = Rwwp.at<float>(2,1);

//        MTwwp.m[8] = Rwwp.at<float>(0,2);
//        MTwwp.m[9] = Rwwp.at<float>(1,2);
//        MTwwp.m[10] = Rwwp.at<float>(2,2);

//        MTwwp.m[12] = twc.at<float>(0);
//        MTwwp.m[13] = twc.at<float>(1);
//        MTwwp.m[14] = twc.at<float>(2);
//    }
//    else
//    {
//        M.SetIdentity();
//        MOw.SetIdentity();
//        MTwwp.SetIdentity();
//    }

//}

} //namespace ORB_SLAM
